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Whisk together the yogurt, vanilla seeds and remaining tablespoon honey in a medium bowl. Cover and let sit at room temperature for 1 hour.
Preheat the oven to 400 degrees F. Position a rack in the center of the oven.
Place a large piece of parchment paper on a baking sheet. Place the apricots, plums, peaches and cherries in a single layer in the center of the parchment paper and pour the marinade over. Fold the parchment over, making small overlapping folds to seal the edges tightly. Bake until you can see juices bubbling, 15 minutes. Remove from the oven and open the parchment to let the fruit cool slightly. Discard the lime zest and vanilla bean pod.